Compensation Plans - Stock Options (Details) - USD ($) shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based compensation expense recognized	$ 19,000,000	$ 32,000,000	$ 23,000,000
Common Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of stock options shares outstanding (in shares)	0.2	0.3
Proceeds received from options exercised	$ 0	$ 0	3,000,000
Total share-based compensation expense recognized	$ 0	$ 0	$ 0